We also created two synthetic datasets with visual data to stress different aspects of our method. We modified the VI-Sensor Simulator [1]} to generate ground-truth visual, inertial and landmark data to test the back-end of the system. The drones simulated by the VI-Sensor Simulator mount a visual camera that generates 752 x 480 images with a focal length of 455 px at 30 Hz. The IMU sensor simulated is the ADIS16448 that generates data at 200 Hz.
The datasets Castle Around and Castle Parallel are recorded using a 3D reconstruction of the Scottish Inveraray Castle. The former simulates four UAVs flying \(220 m\)  squared trajectories around the castle with different altitudes and rotations. The latter consists of 3 drones flying \(30m\)  parallel trajectories at the same altitude which stresses the communication pipeline. Table REF  shows the results using the collaborative approach.
